US20030134034A1 - Method for dispensing viscous liquid material - Google Patents
Method for dispensing viscous liquid material Download PDFInfo
- Publication number
- US20030134034A1 US20030134034A1 US10/368,244 US36824403A US2003134034A1 US 20030134034 A1 US20030134034 A1 US 20030134034A1 US 36824403 A US36824403 A US 36824403A US 2003134034 A1 US2003134034 A1 US 2003134034A1
- Authority
- US
- United States
- Prior art keywords
- dispensing
- scan
- path
- scanning
- objects
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1018—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to distance of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28F—DETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
- F28F9/00—Casings; Header boxes; Auxiliary supports for elements; Auxiliary members within casings
- F28F9/02—Header boxes; End plates
- F28F9/0219—Arrangements for sealing end plates into casing or header box; Header box sub-elements
- F28F9/0224—Header boxes formed by sealing end plates into covers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28F—DETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
- F28F2275/00—Fastening; Joining
- F28F2275/02—Fastening; Joining by using bonding materials; by embedding elements in particular materials
- F28F2275/025—Fastening; Joining by using bonding materials; by embedding elements in particular materials by using adhesives
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35305—Before machining, verify if all different machining start points are correct
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36405—Adjust path by detecting path, line with a photosensor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37215—Inspect application of solder paste, glue to workpiece
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45065—Sealing, painting robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45238—Tape, fiber, glue, material dispensing in layers, beads, filling, sealing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50063—Probe, measure, verify workpiece, feedback measured values
Definitions
- the present invention relates generally to an apparatus and method for dispensing a viscous liquid material onto a surface. More particularly, the present invention relates to providing a liquid gasket material onto a twisted, warped or displaced surface.
- the present invention provides an automated dispensing system for dispensing a liquid onto a non-repeatable surface of an object.
- the object may include any suitable object (e.g., cap, cover, radiator end tank cover, etc.), that requires a liquid material (e.g., mastic, sealant, gasket, adhesives, etc.) to be applied along an irregular dispensing path.
- a scanning apparatus of a robotic apparatus maps and determines a first contour profile, then determines the dispensing path.
- a dispensing apparatus of the robotic apparatus then dispenses the viscous liquid material along the dispensing path.
- the scanning system of the robotic apparatus measures and maps a height of the dispensed material. Objects not meeting an acceptable dispensed material height may then be rejected.
- FIG. 1 illustrates a plan view of a robotic motion apparatus
- FIG. 2 illustrates a front view of a robotic motion apparatus
- FIG. 3 illustrates a side view of the robotic motion apparatus
- FIG. 4 illustrates a front and side view of the dispensing apparatus and the scanning apparatus
- FIG. 5 illustrates a scanning path of the scanning apparatus for determining a contour profile of each object
- FIG. 6 illustrates a plan view of a dispensing path along a top rail of each object
- FIG. 7 illustrates a cross-sectional view of a bead of material dispensed on the object.
- FIG. 8 illustrates a front view of a display device of a robotic controller.
- FIG. 9 illustrates a cross section view of a scanning window around the object rails.
- FIG. 1 illustrates a plan view of a robotic motion apparatus 10 , a scanning apparatus 40 , a data acquisition system 12 , a computer processing system 13 , a dispensing apparatus 41 , and a robotic controller 14 .
- the electronics being enclosed in an electrical enclosure 11 .
- FIG. 2 illustrates a front view of the robotic motion apparatus 10 .
- FIG. 3 illustrates a an side view of the robotic motion apparatus 10
- FIG. 4 illustrates a front and side view of the scanning and dispensing apparatus 40 and 41 .
- FIGS. 5 , and 6 illustrate plan views of a pallet 42 .
- a plurality of objects 16 A, 16 B, 16 C, and 16 D are removably attached to the pallet 42 by clamping assemblies 24 A, 24 B, 24 C, and 24 D (FIG. 5).
- the clamping assemblies 24 A, 24 B, 24 C, and 24 D may be any suitable means (e.g., clamps, supports, removable fasteners, etc.) for removably attaching the objects 16 A, 16 B, 16 C, and 16 D to the pallet 42 .
- the clamping assemblies 24 A- 24 D rigidly locate and secure the objects 16 A- 16 D to the pallet 42 .
- FIG. 4 illustrates a side and front view of the dispensing apparatus 41 and the scanning apparatus 40 .
- the dispensing apparatus 41 includes a material supply reservoir 43 , material supply pumps 22 A and 22 B, a material control valve 44 , a solenoid 23 , and a nozzle 20 .
- the material supply reservoir 43 stores and supplies a material 38 .
- the material 38 may be any suitable material (e.g., mastic, sealant, liquid gasket, liquid silicon rubber, two-part liquid silicon rubber, etc.).
- the material supply reservoir 43 may supply the material 38 under pressure to the nozzle 20 .
- the material control valve 44 turns on or shuts off the flow of the material 38 to the nozzle 20 .
- the material 38 passes through the nozzle 20 and is dispensed onto a surface of the object 16 A.
- the scanning apparatus 40 may include a displacement sensor 21 A and a displacement sensor 21 B.
- the displacement sensors 21 A, 21 B maybe any suitable sensor (e.g., laser displacement sensor, light sensor, visual sensor, proximity sensor, etc.).
- the displacement sensors 21 A, 21 B are moved above and across the objects 16 A- 16 D by the robotic motion apparatus 10 A.
- the displacement sensors 21 A, 21 B repeatedly take measurements of the objects 16 A- 16 D. From these measurements, a first contour profile 36 A- 36 D of the objects 16 A- 16 D may be established (FIG. 4).
- FIG. 1 illustrates a calibration apparatus 17 .
- the calibration apparatus 17 is used to determine the X, Y, and Z offset 45 between the displacement sensors 21 A, 21 B of the scanning apparatus 40 and the nozzle 20 of the dispensing apparatus 41 .
- the nozzle 20 of the dispensing apparatus 41 is placed within the calibration apparatus 17 and the X, Y, and Z offset 45 is determined.
- the scanning apparatus 40 and the dispensing apparatus 41 are attached to the robotic motion apparatus 10 .
- the robotic motion apparatus 10 includes an X-Y motion assembly 18 , and a Z motion assembly 19 .
- the X-Y motion assembly 18 provides motion in an X-Y direction
- the Z motion assembly 19 provides motion in a Z direction. Therefore, the robotic motion apparatus 10 may move the scanning apparatus 40 and the dispensing apparatus 41 in any desired X, Y or Z direction.
- the data acquisition system 12 acquires and stores measurement information provided by the scanning apparatus 40 .
- a computer processing system 13 reads the measurement information from the data acquisition system 12 and location “Z” and “X” information provided from the robotic motion controller 14 .
- the computer processing system 13 determines the first contour profiles 36 A- 36 D of the objects 16 A- 16 D.
- the computer processing system 13 determines a dispense path 34 A- 34 D for objects 16 A- 16 D from the first contour profiles 36 A- 36 D.
- the computer processing system communicates the dispense path 34 A- 34 D information to the robotic motion controller 14 .
- the robotic motion controller 14 controls the robotic motion apparatus 10 , the scanning apparatus 40 , and the dispensing apparatus 41 .
- the computer processing system 13 may include a display device 15 and an input device 46 (FIG. 2).
- the display device 15 may include any suitable device (e.g., digital display, screen display, etc.), as illustrated in FIG. 2.
- the input device 46 allows an operator to input commands into the computer processing system 13 .
- the input device 46 may include any suitable device (e.g., keyboard, touch screen, computer mouse, etc.).
- the robotic motion apparatus 10 may include an emergency stop control system 47 (FIG. 2).
- the emergency stop control system 47 may include a “stop” button 48 . If an operator presses the “stop” button 48 , the emergency stop control system 47 stops the robotic motion apparatus 10 .
- robotic motion apparatus 10 the objects such as 16 A, 16 B, 16 C, and 16 D are attached to a pallet 42 as illustrated in FIG. 5.
- the pallet 42 is brought to a location under the robotic motion apparatus 10 (FIG. 1).
- the robotic motion apparatus 10 moves the scanning apparatus 40 above the objects 16 A- 16 D to map the objects 16 A- 16 D in a first scan.
- a first scanning path is illustrated in FIG. 5.
- the first scanning path 27 starts at 27 “Start” and ends at 27 “End”.
- the displacement sensors 21 A and 21 B take measurements in the “Z” direction between the sensors 21 A and 21 B and the objects 16 A- 16 D. The measurements are taken at 0.002 inch intervals as the robotic motion apparatus 10 moves the scanning apparatus 40 in the “Y” direction.
- the computer processing system 13 reads the measurements acquired from the data acquisition system 12 .
- the data is searched within a detection window 57 (FIG. 9) for the highest point 58 .
- the detection window 57 is stored in the computer processing system 13 by means of an input screen (FIG. 8).
- the computer processing system 13 determines the edges 54 and 55 by comparing the highest point 58 and a point by which the height drops by more than a configured threshold (FIG. 8). Once the edges 54 and 55 are determined, the dispense point 56 is calculated.
- the computer processing system 13 compares the location information of the objects 16 A- 16 D with information stored by means of an input screen (FIG. 8) within the computer processing system 13 .
- the computer processing system 13 determines that the “Y” or “Z” location for any given part 16 A- 16 D is out of acceptable limits, the computer processing system does not proceed with a dispense path 34 A- 34 D on the out of tolerance part 16 A- 16 D.
- the object 16 A- 16 D location information at points 25 A- 25 P, 26 A- 26 P is calculated by the computer processing system 13 to obtain a first contour profile 36 A- 36 D.
- the objects 16 A- 16 D may be radiator end tank covers, which include a side rail 32 B, a side rail 32 C, and end rail 32 A, and an end rail 32 D.
- the side rails 32 B and 32 C are typically twisted, warped or displaced in the “Y” direction and in the “Z” direction (see FIG. 5 for the directions).
- the end rails 32 A, 32 D may be displaced in the “Z” direction.
- the number of times the scanning apparatus 40 is moved over the parts is configurable based on accuracy needs of the dispense path 34 and FIG. 5 is only representative in nature.
- the computer processing system calculates a dispense path 34 A- 34 D for the objects 16 A- 16 D based on the first contour profile 36 A- 36 D, the “X” and “Z” information from the robotic motion controller 14 , and the “XYZ” offsets 45 .
- the computer processing system 13 communicates the dispense path 34 A- 34 D information to the robotic motion controller 14 .
- the robotic motion controller 14 moves the dispensing apparatus 41 over the objects 16 A- 16 D along the dispense paths 34 A- 34 D.
- the nozzle 20 of the dispensing apparatus 41 moves over the objects 16 A- 16 D and material 38 is dispensed onto the objects 16 A- 16 D.
- the cross-sectional view in FIG. 7 illustrates a bead 35 of material 38 applied to the radiator end tank cover 16 A along the dispensing path 34 A.
- the height 33 A “H” of the bead 35 A of dispensed material 38 above the object 16 A is illustrated in FIG. 7.
- the robotic motion apparatus 10 A moves the scanning apparatus 40 above the radiator end tank covers 16 A- 16 D in a second scan of the radiator end tank covers 16 A- 16 D.
- the second scanning path 28 repeats the first scanning path 27 , starting at 27 “Start” and ending at 27 “End”.
- the displacement sensors 21 A and 21 B take measurements in the “Z” direction between the sensors 21 A and 21 B and the radiator end tank covers 16 A- 16 D.
- the data acquisition system 12 acquires and stores these measurements from the second scan and determines a second contour profile 37 A- 37 D.
- the computer processing system 13 calculates each bead height 33 A- 33 D by subtracting each first contour profile 36 A- 36 D from each second contour profile 37 A- 37 D.
- the computer processing system 13 compares the bead height 33 A- 33 D of the material 38 with a range of standard acceptable bead heights. If the bead height 33 A- 33 D for any radiator end tank cover 16 A- 16 D lies outside of the range of standard acceptable bead heights, then the computer processing 13 notes it.
- other bead characteristics e.g., width, location, etc. may be determined.
Abstract
An automated dispensing system and method for dispensing a viscous liquid material along a dynamic dispensing path. In a first scan, a scanning apparatus determines a dispensing path. A dispensing apparatus dispenses the viscous liquid material along the dispensing path. In an optional second scan, the scanning apparatus measures a dimension of the dispensed material. Object not meeting an acceptable liquid height are rejected.
Description
- This is a division of application Ser. No. 09/809,375 filed Mar. 15, 2000 still pending.
- The present invention relates generally to an apparatus and method for dispensing a viscous liquid material onto a surface. More particularly, the present invention relates to providing a liquid gasket material onto a twisted, warped or displaced surface.
- Automatic liquid dispensing machines are used for dispensing materials, (e.g., mastics, sealants, gaskets, adhesives, etc.) onto a surface of an object. Problems arise when trying to automatically dispense material onto a non-repeatable surface of an object, in other words, a surface that is twisted, warped or displaced. Currently available robotic devices may not be able to follow variations created by the twisting, warping or displacement.
- The present invention provides an automated dispensing system for dispensing a liquid onto a non-repeatable surface of an object. The object may include any suitable object (e.g., cap, cover, radiator end tank cover, etc.), that requires a liquid material (e.g., mastic, sealant, gasket, adhesives, etc.) to be applied along an irregular dispensing path. In a first scan, a scanning apparatus of a robotic apparatus maps and determines a first contour profile, then determines the dispensing path. A dispensing apparatus of the robotic apparatus then dispenses the viscous liquid material along the dispensing path. Optionally, in a second scan, the scanning system of the robotic apparatus measures and maps a height of the dispensed material. Objects not meeting an acceptable dispensed material height may then be rejected.
- The features of the present invention will best be understood from a detailed description of the invention selected for the purposes of illustration and shown in the accompanying drawings in which:
- FIG. 1 illustrates a plan view of a robotic motion apparatus;
- FIG. 2 illustrates a front view of a robotic motion apparatus;
- FIG. 3 illustrates a side view of the robotic motion apparatus;
- FIG. 4 illustrates a front and side view of the dispensing apparatus and the scanning apparatus;
- FIG. 5 illustrates a scanning path of the scanning apparatus for determining a contour profile of each object;
- FIG. 6 illustrates a plan view of a dispensing path along a top rail of each object;
- FIG. 7 illustrates a cross-sectional view of a bead of material dispensed on the object; and
- FIG. 8 illustrates a front view of a display device of a robotic controller.
- FIG. 9 illustrates a cross section view of a scanning window around the object rails.
- Although certain embodiments of the present invention will be shown and described in detail, it should be understood that various changes and modifications may be made without departing from the scope of the appended claims. The scope of the present invention will in no way be limited to the number of constituting components, the materials thereof, the shapes thereof, the relative arrangement thereof, etc. The features of the present invention are illustrated in detail in the accompanying drawings, wherein like reference numerals refer to like elements throughout the drawings. Although the drawings are intended to illustrate the present invention, the drawings are not necessarily drawn to scale.
- FIG. 1 illustrates a plan view of a
robotic motion apparatus 10, ascanning apparatus 40, adata acquisition system 12, acomputer processing system 13, a dispensingapparatus 41, and arobotic controller 14. The electronics being enclosed in an electrical enclosure 11. - FIG. 2 illustrates a front view of the
robotic motion apparatus 10. FIG. 3 illustrates a an side view of therobotic motion apparatus 10, and FIG. 4 illustrates a front and side view of the scanning and dispensingapparatus objects clamping assemblies clamping assemblies objects objects 16A-16D to the pallet 42. - FIG. 4 illustrates a side and front view of the dispensing
apparatus 41 and thescanning apparatus 40. As illustrated in FIG. 4, the dispensingapparatus 41 includes amaterial supply reservoir 43,material supply pumps 22A and 22B, amaterial control valve 44, asolenoid 23, and anozzle 20. Thematerial supply reservoir 43 stores and supplies a material 38. the material 38 may be any suitable material (e.g., mastic, sealant, liquid gasket, liquid silicon rubber, two-part liquid silicon rubber, etc.). Thematerial supply reservoir 43 may supply the material 38 under pressure to thenozzle 20. Thematerial control valve 44 turns on or shuts off the flow of the material 38 to thenozzle 20. The material 38 passes through thenozzle 20 and is dispensed onto a surface of theobject 16A. - As illustrated in FIG. 2, the
scanning apparatus 40 may include adisplacement sensor 21A and a displacement sensor 21B. Thedisplacement sensors 21A, 21B maybe any suitable sensor (e.g., laser displacement sensor, light sensor, visual sensor, proximity sensor, etc.). Thedisplacement sensors 21A, 21B are moved above and across theobjects 16A-16D by the robotic motion apparatus 10A. Thedisplacement sensors 21A, 21B repeatedly take measurements of theobjects 16A-16D. From these measurements, afirst contour profile 36A-36D of theobjects 16A-16D may be established (FIG. 4). - FIG. 1 illustrates a
calibration apparatus 17. Thecalibration apparatus 17 is used to determine the X, Y, and Z offset 45 between thedisplacement sensors 21A, 21B of thescanning apparatus 40 and thenozzle 20 of thedispensing apparatus 41. Thenozzle 20 of the dispensingapparatus 41 is placed within thecalibration apparatus 17 and the X, Y, and Z offset 45 is determined. - As illustrated in FIG. 1, the
scanning apparatus 40 and the dispensingapparatus 41 are attached to therobotic motion apparatus 10. Therobotic motion apparatus 10 includes anX-Y motion assembly 18, and aZ motion assembly 19. TheX-Y motion assembly 18 provides motion in an X-Y direction and theZ motion assembly 19 provides motion in a Z direction. Therefore, therobotic motion apparatus 10 may move thescanning apparatus 40 and the dispensingapparatus 41 in any desired X, Y or Z direction. Optionally, other robotic motion apparatus may be used, such as, an arm robot, an n-axis motion machine (wherein n=2, 3, 4 . . . ), etc. - The data acquisition system12 (FIG. 1) acquires and stores measurement information provided by the
scanning apparatus 40. Acomputer processing system 13 reads the measurement information from thedata acquisition system 12 and location “Z” and “X” information provided from therobotic motion controller 14. Thecomputer processing system 13 then determines thefirst contour profiles 36A-36D of theobjects 16A-16D. Thecomputer processing system 13 determines adispense path 34A-34D forobjects 16A-16D from thefirst contour profiles 36A-36D. The computer processing system communicates the dispensepath 34A-34D information to therobotic motion controller 14. Therobotic motion controller 14 controls therobotic motion apparatus 10, thescanning apparatus 40, and the dispensingapparatus 41. Thecomputer processing system 13 may include adisplay device 15 and an input device 46 (FIG. 2). Thedisplay device 15 may include any suitable device (e.g., digital display, screen display, etc.), as illustrated in FIG. 2. Theinput device 46 allows an operator to input commands into thecomputer processing system 13. Theinput device 46 may include any suitable device (e.g., keyboard, touch screen, computer mouse, etc.). Therobotic motion apparatus 10 may include an emergency stop control system 47 (FIG. 2). The emergencystop control system 47 may include a “stop”button 48. If an operator presses the “stop”button 48, the emergencystop control system 47 stops therobotic motion apparatus 10. - In
robotic motion apparatus 10, the objects such as 16A, 16B, 16C, and 16D are attached to a pallet 42 as illustrated in FIG. 5. The pallet 42 is brought to a location under the robotic motion apparatus 10 (FIG. 1). Therobotic motion apparatus 10 moves thescanning apparatus 40 above theobjects 16A-16D to map theobjects 16A-16D in a first scan. A first scanning path is illustrated in FIG. 5. Thefirst scanning path 27 starts at 27 “Start” and ends at 27 “End”. Thedisplacement sensors 21A and 21B take measurements in the “Z” direction between thesensors 21A and 21B and theobjects 16A-16D. The measurements are taken at 0.002 inch intervals as therobotic motion apparatus 10 moves thescanning apparatus 40 in the “Y” direction. Other intervals may be used depending on the accuracy required for any given application. Thecomputer processing system 13 reads the measurements acquired from thedata acquisition system 12. The data is searched within a detection window 57 (FIG. 9) for thehighest point 58. Thedetection window 57 is stored in thecomputer processing system 13 by means of an input screen (FIG. 8). Thecomputer processing system 13 then determines theedges highest point 58 and a point by which the height drops by more than a configured threshold (FIG. 8). Once theedges point 56 is calculated. Thecomputer processing system 13 compares the location information of theobjects 16A-16D with information stored by means of an input screen (FIG. 8) within thecomputer processing system 13. If thecomputer processing system 13 determines that the “Y” or “Z” location for any givenpart 16A-16D is out of acceptable limits, the computer processing system does not proceed with a dispensepath 34A-34D on the out oftolerance part 16A-16D. Theobject 16A-16D location information atpoints 25A-25P, 26A-26P is calculated by thecomputer processing system 13 to obtain afirst contour profile 36A-36D. Theobjects 16A-16D may be radiator end tank covers, which include aside rail 32B, a side rail 32C, and endrail 32A, and an end rail 32D. The side rails 32B and 32C are typically twisted, warped or displaced in the “Y” direction and in the “Z” direction (see FIG. 5 for the directions). Additionally, the end rails 32A, 32D may be displaced in the “Z” direction. The number of times thescanning apparatus 40 is moved over the parts is configurable based on accuracy needs of the dispense path 34 and FIG. 5 is only representative in nature. The computer processing system calculates a dispensepath 34A-34D for theobjects 16A-16D based on thefirst contour profile 36A-36D, the “X” and “Z” information from therobotic motion controller 14, and the “XYZ” offsets 45. Thecomputer processing system 13 communicates the dispensepath 34A-34D information to therobotic motion controller 14. Therobotic motion controller 14 moves the dispensingapparatus 41 over theobjects 16A-16D along the dispensepaths 34A-34D. Thenozzle 20 of the dispensingapparatus 41 moves over theobjects 16A-16D and material 38 is dispensed onto theobjects 16A-16D. The cross-sectional view in FIG. 7 illustrates a bead 35 of material 38 applied to the radiatorend tank cover 16A along the dispensingpath 34A. Theheight 33A “H” of thebead 35A of dispensed material 38 above theobject 16A is illustrated in FIG. 7. - After the material38 is dispensed onto each radiator
end tank cover 16A-16D, the robotic motion apparatus 10A moves thescanning apparatus 40 above the radiator end tank covers 16A-16D in a second scan of the radiator end tank covers 16A-16D. Thesecond scanning path 28 repeats thefirst scanning path 27, starting at 27 “Start” and ending at 27 “End”. In a manner similar to the first scan, thedisplacement sensors 21A and 21B take measurements in the “Z” direction between thesensors 21A and 21B and the radiator end tank covers 16A-16D. Thedata acquisition system 12 acquires and stores these measurements from the second scan and determines asecond contour profile 37A-37D. Thecomputer processing system 13 calculates eachbead height 33A-33D by subtracting eachfirst contour profile 36A-36D from eachsecond contour profile 37A-37D. Thecomputer processing system 13 compares thebead height 33A-33D of the material 38 with a range of standard acceptable bead heights. If thebead height 33A-33D for any radiatorend tank cover 16A-16D lies outside of the range of standard acceptable bead heights, then thecomputer processing 13 notes it. In addition to determining bead height, other bead characteristics (e.g., width, location, etc.). may be determined.
Claims (8)
1. A method comprising:
a. Providing an object having a non-repeatable surface;
b. Performing a scan to determine a dispensing path; and
c. Dispensing a material onto the object along the dispensing path.
2. The method of claim 1 , wherein the material is a viscous material.
3. The method of claim 2 , wherein the viscous material is a liquid silicone rubber.
4. The method of claim 1 , wherein the object is a radiator end tank.
5. The method of claim 1 , wherein the scan is performed using a scanning apparatus.
6. The method of claim 1 , further comprising analyzing the scan using a processing computer.
7. A method comprising:
a. Providing an object;
b. Performing a first scan of the object;
c. Calculating a dispensing path from the first scan;
d. Dispensing a material along the dispensing path; and
e. Performing a second scan of the object to determine a dimension, location or configuration of the material.
8. A method comprising:
a. Providing an object;
b. Determining a scanning window about the object;
c. Determining features of said object by defining thresholds; and
d. Calculating a desired dispense path point based on the features of the object.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/368,244 US20030134034A1 (en) | 2001-03-15 | 2003-02-18 | Method for dispensing viscous liquid material |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/809,375 US6689219B2 (en) | 2001-03-15 | 2001-03-15 | Apparatus and method for dispensing viscous liquid material |
US10/368,244 US20030134034A1 (en) | 2001-03-15 | 2003-02-18 | Method for dispensing viscous liquid material |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/809,375 Division US6689219B2 (en) | 2001-03-15 | 2001-03-15 | Apparatus and method for dispensing viscous liquid material |
Publications (1)
Publication Number | Publication Date |
---|---|
US20030134034A1 true US20030134034A1 (en) | 2003-07-17 |
Family
ID=25201193
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/809,375 Expired - Fee Related US6689219B2 (en) | 2001-03-15 | 2001-03-15 | Apparatus and method for dispensing viscous liquid material |
US10/368,244 Abandoned US20030134034A1 (en) | 2001-03-15 | 2003-02-18 | Method for dispensing viscous liquid material |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/809,375 Expired - Fee Related US6689219B2 (en) | 2001-03-15 | 2001-03-15 | Apparatus and method for dispensing viscous liquid material |
Country Status (1)
Country | Link |
---|---|
US (2) | US6689219B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006018246A1 (en) * | 2004-08-16 | 2006-02-23 | Isocoll Chemie Gmbh | Method for fixing a cooling spiral to the plate of a refrigerating device |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030017257A1 (en) * | 2001-06-18 | 2003-01-23 | Birmingham Michael Antoine | Method for measuring the height of a dispensed material |
US6645547B1 (en) | 2002-05-02 | 2003-11-11 | Labcoat Ltd. | Stent coating device |
US7709048B2 (en) * | 2002-05-02 | 2010-05-04 | Labcoat, Ltd. | Method and apparatus for coating a medical device |
KR100540633B1 (en) * | 2003-06-20 | 2006-01-11 | 주식회사 탑 엔지니어링 | Paste Dispenser and Method for Controlling the same |
US8800482B2 (en) * | 2005-12-29 | 2014-08-12 | Exatec Llc | Apparatus and method of dispensing conductive material with active Z-axis control |
ITTO20060298A1 (en) * | 2006-04-21 | 2007-10-22 | Tetra Laval Holdings & Finance | UNIT AND METHOD FOR THE PREPARATION OF AN OPENING DEVICE ON BONDING ON A RESPECTIVE SEALED PACKAGE CONTAINING A VERSABLE FOOD PRODUCT |
US7862673B2 (en) * | 2007-09-07 | 2011-01-04 | Vtech Telecommunications Limited | System and method for sealing a telephone handset |
US20090155449A1 (en) * | 2007-12-18 | 2009-06-18 | Abbott Laboratories | Medical device coating apparatus and methods of use |
EP2229282A1 (en) | 2007-12-31 | 2010-09-22 | Exatec, LLC. | Apparatus and method for printing three-dimensional articles |
DE102008015834A1 (en) * | 2008-03-27 | 2009-10-01 | Inos Automationssoftware Gmbh | Method and device for the automatic introduction or application of viscous material |
DE102013003688A1 (en) | 2012-10-26 | 2014-04-30 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Combination nozzle and device for applying a viscous material to a component edge |
US9374905B2 (en) | 2013-09-30 | 2016-06-21 | Illinois Tool Works Inc. | Method and apparatus for automatically adjusting dispensing units of a dispenser |
CN103846192B (en) * | 2014-03-21 | 2015-05-13 | 武汉大学 | Autonomous-positioning type intelligent dispensing system |
US10987693B2 (en) | 2015-08-18 | 2021-04-27 | The Boeing Company | Sealant application tip |
FR3058666B1 (en) * | 2016-11-14 | 2019-01-25 | Renault S.A.S | METHOD AND DEVICE FOR RECLAIMING AN OBJECT, IN PARTICULAR A MOTOR VEHICLE ENGINE, APPLYING A SEAL TO THE OBJECT AND CHECKING THE CONFORMITY OF SAID SEAL |
JP6465141B2 (en) * | 2017-03-30 | 2019-02-06 | マツダ株式会社 | Coating method and coating apparatus |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3598160A (en) * | 1968-04-30 | 1971-08-10 | Ball Corp | Pour control system |
US4419168A (en) * | 1979-12-27 | 1983-12-06 | Paul William A | Apparatus for handling gasket-forming material |
US4662540A (en) * | 1984-02-16 | 1987-05-05 | Robotics Incorporated | Apparatus for dispensing medium to high viscosity liquids with liquid flow detector and alarm |
US4819953A (en) * | 1986-11-15 | 1989-04-11 | Karl Joh Gummiwarenfabrik Gmbh | Cylinder head cover with gasket and method of making the gasket |
US4930792A (en) * | 1987-11-26 | 1990-06-05 | Daimler-Benz Ag | Sealing arrangement for an engine timing housing cover |
US5052338A (en) * | 1990-01-31 | 1991-10-01 | Asymptotic Technologies, Inc. | Apparatus for dispensing viscous materials a constant height above a workpiece surface |
US5711989A (en) * | 1992-11-19 | 1998-01-27 | Nordson Corporation | Computer controlled method for dispensing viscous fluid |
US5932012A (en) * | 1995-06-23 | 1999-08-03 | Hitachi Techno Engineering Co., Ltd. | Paste applicator having positioning means |
US5935654A (en) * | 1997-01-06 | 1999-08-10 | Tdk Corporation | Extrusion coating method and coating apparatus with swirl and throttle means |
US5963289A (en) * | 1997-10-27 | 1999-10-05 | S Vision | Asymmetrical scribe and separation method of manufacturing liquid crystal devices on silicon wafers |
US5964465A (en) * | 1996-03-13 | 1999-10-12 | W. L. Gore & Associates, Inc. | Low creep polytetrafluoroethylene form-in-place gasketing elements |
US6103427A (en) * | 1991-05-17 | 2000-08-15 | Dupont Photomasks, Inc. | Pressure relieving pellicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4838696A (en) * | 1983-01-28 | 1989-06-13 | Diffracto Ltd. | Pulsed robotic inspection |
DE3520924A1 (en) * | 1984-06-12 | 1985-12-12 | Toyoda Gosei Co., Ltd., Haruhi, Aichi | PLASMA PROCESSING SYSTEM |
US5175018A (en) * | 1989-03-29 | 1992-12-29 | Robotic Vision Systems, Inc. | Automated masking device for robotic painting/coating |
DE4209279C3 (en) * | 1992-03-21 | 2000-09-14 | Cegelec Aeg Anlagen Und Automa | Method and device for automatically coating objects |
EP0970811B1 (en) * | 1998-07-06 | 2005-09-21 | L.A.C. Corporation | Automatic painting device |
-
2001
- 2001-03-15 US US09/809,375 patent/US6689219B2/en not_active Expired - Fee Related
-
2003
- 2003-02-18 US US10/368,244 patent/US20030134034A1/en not_active Abandoned
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3598160A (en) * | 1968-04-30 | 1971-08-10 | Ball Corp | Pour control system |
US4419168A (en) * | 1979-12-27 | 1983-12-06 | Paul William A | Apparatus for handling gasket-forming material |
US4662540A (en) * | 1984-02-16 | 1987-05-05 | Robotics Incorporated | Apparatus for dispensing medium to high viscosity liquids with liquid flow detector and alarm |
US4819953A (en) * | 1986-11-15 | 1989-04-11 | Karl Joh Gummiwarenfabrik Gmbh | Cylinder head cover with gasket and method of making the gasket |
US4930792A (en) * | 1987-11-26 | 1990-06-05 | Daimler-Benz Ag | Sealing arrangement for an engine timing housing cover |
US5052338A (en) * | 1990-01-31 | 1991-10-01 | Asymptotic Technologies, Inc. | Apparatus for dispensing viscous materials a constant height above a workpiece surface |
US6103427A (en) * | 1991-05-17 | 2000-08-15 | Dupont Photomasks, Inc. | Pressure relieving pellicle |
US5711989A (en) * | 1992-11-19 | 1998-01-27 | Nordson Corporation | Computer controlled method for dispensing viscous fluid |
US5932012A (en) * | 1995-06-23 | 1999-08-03 | Hitachi Techno Engineering Co., Ltd. | Paste applicator having positioning means |
US5964465A (en) * | 1996-03-13 | 1999-10-12 | W. L. Gore & Associates, Inc. | Low creep polytetrafluoroethylene form-in-place gasketing elements |
US5935654A (en) * | 1997-01-06 | 1999-08-10 | Tdk Corporation | Extrusion coating method and coating apparatus with swirl and throttle means |
US5963289A (en) * | 1997-10-27 | 1999-10-05 | S Vision | Asymmetrical scribe and separation method of manufacturing liquid crystal devices on silicon wafers |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006018246A1 (en) * | 2004-08-16 | 2006-02-23 | Isocoll Chemie Gmbh | Method for fixing a cooling spiral to the plate of a refrigerating device |
EP1630514A1 (en) * | 2004-08-16 | 2006-03-01 | Isocoll Chemie GmbH | Process for attachment of a tube to a plate |
Also Published As
Publication number | Publication date |
---|---|
US20020132038A1 (en) | 2002-09-19 |
US6689219B2 (en) | 2004-02-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6689219B2 (en) | Apparatus and method for dispensing viscous liquid material | |
KR101782542B1 (en) | System and method for inspecting painted surface of automobile | |
EP1730465B1 (en) | Scanning an object | |
US20150049346A1 (en) | Automated position locator for a height sensor in a dispensing system | |
US7457686B2 (en) | Robotic arm alignment | |
US20080190212A1 (en) | Test Apparatus | |
US4638232A (en) | Method and apparatus for calibrating a positioning system | |
US20210181222A1 (en) | Autosampler | |
WO2001018734A8 (en) | Calibration process for shape measurement | |
CN110253877A (en) | 3D printing equipment and its control method | |
CN112206980A (en) | Glue dispensing device and glue dispensing system | |
CN209623612U (en) | Part blank scanning device and detection system | |
KR101614425B1 (en) | Method for coordinates calibration in headblock and apparatus for processing substrate | |
CN208505180U (en) | A kind of measuring thickness device | |
CN106855398B (en) | The measurement method and device of the acquisition methods and contact angle of basic point and baseline | |
KR20190133901A (en) | Seal dispenser having laser displacement sensor and operating method thereof | |
JPH09280834A (en) | Shape measuring device | |
JP2612794B2 (en) | Method for following a measuring head in an article surface shape measuring apparatus | |
US20030017257A1 (en) | Method for measuring the height of a dispensed material | |
CN109277254B (en) | Coating machine | |
JP2004028681A (en) | Head for liquid dispensing apparatus | |
JP7070712B2 (en) | How to correct the detected value of the linear scale | |
JP4832861B2 (en) | Paste coating apparatus and paste coating method. | |
KR100944425B1 (en) | Apparatus for the detecting defect mark on steel plate | |
KR0176546B1 (en) | Robot device and its working position automatic teaching method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |